Mechanism Design of De-Icing Robot and its Auxiliary Equipment for High-Voltage Transmission Lines

摘要

Based on the present study of the de-icing robot for high-voltage transmission lines, a new kind of de-icing robot for transmission lines and its auxiliary equipment for hoisting and lowering the robot are designed. The operation of the robot mainly includes four modules: walking module, de-icing module, obstacle negotiation module and hoisting-and-lowering module. The robot’s walking is driven by the rolling of the idler wheel, the de-icing is realized by combination of knocking and cutting, the obstacle negotiation part relies on the rotary telescopic arm’s coordinate crisscross motion with the box, and the motion of the hoisting-and-lowering device is based on the fixed pulley principle. The de-icing tests in laboratory and field demonstrate that this new kind of robot can walk autonomously and de-icing well on the transmission line, it has good de-icing effects, and the auxiliary equipment for hoisting and lowering the robot is safe and feasible.